To further test the pose selection technique from multiple homographies and an essential matrix, as proposed in Section REF , we downloaded the KITTI odometry dataset [1]}, where each frame consists of the images of two cameras.
We considered the two cameras as a generalized one and estimated the pose between this camera and the left image of the next frame.
We used the generalized essential matrix [2]} (E4+2) and homography [3]} (H3+2) solvers. For finding a single E4+2 or H3+2, we used GC-RANSAC [4]}.
The methods were tested on a total of 23190 frame pairs.
